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- W1970434621 abstract "The single-motor multiple DOFs under-actuated finger is the focus of robot research. The grasping force of traditional under-actuated hands based on linkages is hard to control. The traditional hands also have many differences from human hands in appearance. Aiming to solve these problems, this paper has presented a novel under-actuated hand based on linkages, which also comprises of slider mechanisms and springs. Its finger has a changeable force output controlled by a motor with humanoid appearance. It also can adapt to the shape of objects. This article analyzed the force properties of the finger. According to this, a 2-DOF finger and a 3-DOF finger were designed. Finally, they are included in the hand named TH-3L, which comprises of five fingers and six motors with 15 DOFs." @default.
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- W1970434621 date "2010-03-01" @default.
- W1970434621 modified "2023-09-23" @default.
- W1970434621 title "Linkage under-actuated humanoid robotic hand with control of grasping force" @default.
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- W1970434621 doi "https://doi.org/10.1109/car.2010.5456585" @default.
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